Effect on wrench-feasible workspace of cable-driven parallel robots by adding springs

Duan, Qingjuan; Vashista, Vineet; Agrawal, Sunil K.

doi:10.1016/j.mechmachtheory.2014.12.009

Cited by 35 publications

(21 citation statements)

References 29 publications

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“…Although the helical compression spring is commonly used to increase the performance of CDM, only a few studies attempted to systematically analyze springs effects on the workspace and stiffness of CDM. Duan et al just analyzed the effects on the workspace of CDM with springs which are parallel to the cable, and had no detailed analysis of the effects of spring basic parameters [44]. Similarly, in [45,46], they also took spring as spring cable.…”

Section: Introductionmentioning

confidence: 99%

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Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

Zhang

Sun

et al. 2020

Symmetry

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This paper aims to investigate how to determine the basic parameters of the helical compression spring which supports a symmetrical cable-driven hybrid joint (CDHJ) towards the elbow joint of wheelchair-mounted robotic manipulator. The joint design of wheelchair-mounted robotic manipulator needs to consider lightweight but robust, workspace requirements, and variable stiffness elements, so we propose a CDHJ which becomes a variable stiffness joint due the spring under bending and compression provides nonlinear stiffness characteristics. Intuitively, different springs will make the workspace and stiffness of CDHJ different, so we focus on studying the spring effects on workspace and stiffness of CDHJ for its preliminary design. The key to workspace and stiffness analysis of CDHJ is the cable tension, the key to calculate the cable tension is the lateral bending and compression spring model. The spring model is based on Castigliano’s theorem to obtain the relationship between spring force and displacement. The simulation results verify the correctness of the proposed spring model, and show that the spring, with properly chosen parameters, can increase the workspace of CDHJ whose stiffness also can be adjusted to meet the specified design requirements. Then, the modelling method can be extended to other cable-driven mechanism with a flexible compression spring.

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Section: Introductionmentioning

confidence: 99%

“…Taghavi et al [46] investigated adding springs in between the links to improve the wrench-feasible workspace of a two-link CDM. Essentially Duan et al [44], Mustafa and Agrawal [45], and Taghavi et al [46] treat springs as passive cables in a straight line shape. During the whole CDM movement, the spring stiffness did not change.…”

Section: Introductionmentioning

confidence: 99%

Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

Zhang

Sun

et al. 2020

Symmetry

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show abstract

“…Rodriguez-Barroso et al [18] adapted the robot's workspace to different tasks by reconfiguring the EE. Duan et al [19] incorporated springs in the robot's structure and analyzed their effects on the workspace. They reported that the gained WFW depends on the design parameters.…”

Section: Introductionmentioning

confidence: 99%

Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

et al. 2019

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Cable-Driven Parallel Robots (CDPR) operate over a large positional workspace and a relatively large orientation workspace. In the present work, the expansion of the orientation Wrench Feasible Workspace (WFW) in a planar four-cable passive reconfigurable parallel robot with three degrees of freedom was determined. To this end, we proposed a circular-geometry effector mechanism, whose structure allows automatic mobility of the two anchor points of the cables supporting the End Effector (EE). The WFW of the proposed circular structure robot was compared with that of a traditional robot with a rectangular geometry and fixed anchor points. Considering the feasible geometric and tension forces on the cables, the generated workspace volume of the robot was demonstrated in an analysis-by-intervals. The results were validated by simulating the orientation movements of the robot in ADAMS software and a real experimental test was developed for a hypothetical case. The proposed design significantly expanded the orientation workspace of the robot. The remaining limitation is the segment of the travel space in which the mobile connection points can slide. Overcoming this limitation would enable the maximum rotation of the EE.

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“…Moreover, static workspaces can be divided into wrench-closure workspaces, whereby any wrench can be generated at the moving platform while cables are under tension (Gouttefarde and Gosselin 2006;Loloei et al 2009;Li et al 2016), wrench-feasible workspaces, where through a set of poses of the platform, any wrench can be generated at the platform by tightening the cables (Gouttefarde and Gosselin 2006;Bosscher et al 2006;Loloei et al 2009;Duan et al 2015), and force-closure workspaces (Pham et al 2006;Diao and Ma 2007).…”

Section: Introductionmentioning

confidence: 99%

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

2016

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Effect on wrench-feasible workspace of cable-driven parallel robots by adding springs

Cited by 35 publications

References 29 publications

Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

Spring Effects on Workspace and Stiffness of a Symmetrical Cable-Driven Hybrid Joint

Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

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